Kollmorgen Housed

Direct Drive Rotary (DDR) Motors

Selection Guide
with AKD Servo Drive Systems
TM
h o u s e d

Kollmorgen.
DD R

Every solution comes from a real

m o t o r

understanding of OEM challenges.

The ever-escalating demands of the marketplace mean increased
pressure on OEMs at every turn. Time constraints, demands for better
performance, having to think about the next-generation machine even
before the current one is built, tight budgets, and high expectations;
Kollmorgen’s innovative motion solutions and broad range of quality
products help engineers not only overcome these challenges but also build
truly differentiated machines.

Because motion matters, it’s our focus. Motion can distinctly differentiate
a machine and deliver a marketplace advantage by improving its
performance. This translates to overall increased efficiency on the factory
floor. Perfectly deployed machine motion can make your customer’s
machine more reliable and efficient, enhance accuracy and improve
operator safety. Motion also represents endless possibilities for innovation.
We’ve always understood this potential, and thus have kept motion at our
core, relentlessly developing products that offer precision control of speed,
accuracy and position in machines that rely on complex motion.

2 K O L L MO R G E N
H o u s e d D i r e c t Dr i v e R o t ar y M o t o r s S e l e c t i o n G u i d e

Removing the Barriers of Design, Sourcing, and Time

Table of Contents

H o u s e d
At Kollmorgen, we know that OEM engineers can
achieve a lot more when obstacles aren’t in the way.
So, we knock them down in three important ways:

DD R M o t o r
u Housed Direct Drive Rotary® (DDR) Motor 4
Integrating Standard and Custom Products
u Direct Drive Technology 8
The optimal solution is often not clear-cut. Our application
expertise allows us to modify standard products or develop u AKD Servo Drive
TM
10
totally custom solutions across our whole product portfolio so
that designs can take flight. u Co-Engineering Capabilities 14

u Housed DDR Motor System Summary 15

Providing Motion Solutions, Not Just Components
As companies reduce their supplier base and have less u Housed DDR Drawings and Perfomance Data
engineering manpower, they need a total system supplier
with a wide range of integrated solutions. Kollmorgen is in
D(H)06x 16
full response mode with complete solutions that combine
programming software, engineering services and best-in-class D(H)08x 20
motion components.
D(H)10x 24

Global Footprint D(H)14x 28

With direct sales, engineering support, manufacturing facilities,
and distributors across North America, Europe, Middle East, and u Custom Applications 32
Asia, we’re close to OEMs worldwide. Our proximity helps speed
delivery and lend support where and when they’re needed.
u Application Notes 33

u Model Nomenclature 34

Financial and Operational Stability

u Motioneering® Application Engine 35
Kollmorgen is part of Danaher Corporation, our u MOTiONEERiNG Application Engine ®
77
$13B parent company. A key driver in the growth
of all Danaher divisions is the Danaher Business
• global s
System, which relies on the principle of “kaizen” – ce
upp
rvi ort
or continuous improvement. Using world-class tools, se
al •
cross-disciplinary teams of exceptional people
b
glo

glo

evaluate processes and develop plans that result in • applic

tise at
bal

er i
•

superior performance.
devel
on
p
lication ams

eering ex

knowledge

Motion
opment an
te

is at our
core.
ngin

•
e
app

ex
dm

perience •
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a

nu
loc

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• ur
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ility •
financial stab

w w w. k o l l m o r g e n . c o m
hHOUSED
DDo u s e d
DD RR

Housed Direct Drive Rotary (DDR) Motor

m
MOTO
o t o rR

Our Housed Direct Drive Rotary (DDR) motor series offer a high
performance, zero maintenance servo solution. They achieve very high
torque density through the combination of large diameter, short length, and
a high number of magnetic poles.

By pairing the Housed DDR motor series with our wide range of plug-and-
play Ethernet-based AKD™ servo drives, you can optimize performance
and increase the machine’s overall effectiveness. The DDR motor can
be used as a flexible indexer, providing programmable, rapid, indexing
far exceeding the throughput of conventional mechanical or variable
reluctance technology indexers. It can also be used for replacing
mechanical transmissions such as gearboxes, timing belts, and rack and
pinion reducers.

4 K O L L MO R G E N
 h o u s e d
DD R
The Benefits of Housed DDR Motor

m o t o r
• Zero Maintenance with Greater Accuracy and Higher Bandwith • Smoother velocity and reduced, audible noise

• Power transmission without backlash

• Transmission elements such as couplings, toothed belts, spindles,
and other fitted components can be eliminated
• No gearboxes, no lubrication required

• Wide Range of Sizes and Torque to Cover any Direct Drive Rotary • Increased performance for the entire system
(DDR) Application
• Flat, compact drive solution

• Easily mix / match motors and drives (without serial numbers)

• Speeds up to 800 rpm for continuous velocity applications

•Simplified, High Torque Density Permanent Magnet Design • Provides more speed and torque vs. variable reluctance motors
• Rapid indexing of large inertia loads with peak torque up to 990 lb-ft

• Carry heavy loads for indexing with axial loading up to 12,700 lbs

• Operate motor with significant offset loads up to 472 lb-ft

• Large through bore providing run process fluids, pneumatic, and
electrical through center of motor
• Reduced audible noise, fewer parts and lower cost of ownership
• More compact machine and reduced design time

w w w. k o l l m o r g e n . c o m 5
 Housed DDR Motor
h o u s e d

Application Problem Solution Benefits

Belt/pulley
DD R

• Zero maintenance
• No belt adjustment/replacement
m o t o r

• No belt compliance
• Better servo performance
• Clean mechanical assembly
• Flat profile
• Quiet
• Reduced number of parts
DDR • Hollow shaft

Gearmotors/right angle/in-line
• Zero maintenance
• No gearbox lubrication
• No gearbox backlash
• Better servo performance
• Flat profile
• Quiet
Motor Gearbox
DDR • Hollow shaft

Large Vertical Wheel

Motor • Zero maintenance
• No belt adjustment/replacement
• No belt compliance
• Better servo performance
• Faster index times
• Clean mechanical assembly
• Quiet
• Reduced number of parts
• Hollow shaft
DDR

Rotary Indexer
• Zero maintenance
• No gearbox lubrication
• No gearbox backlash
• Better servo performance
• Quiet
• Reduced number of parts
• Hollow shaft
DDR

6 K O L L MO R G E N
 h o u s e d
Housed DDR motors are multi-pole (16 to 32) hollow shaft motors with their own bearings and high-resolution encoder
system. They are coupled directly to the load and enable very precise and repeatable systems. Housed DDR motors
are maintenance free and run more quietly and with better dynamics than systems that use gears, belts, cams or other

DD R
mechanical transmission components.

m o t o r
DDR Motor Features
• Optimized torque output with high-pole count efficient
• Four frame sizes electromagnetic design
• Robust cross-roller bearing • Integrated high-resolution sine-encoder
• Dual bearing option • 134,217,728 counts per rev resolution, 27 bits
• IP67 option • Feedback accuracy: +/- 26 arc-sec
• Continuous torque range: 5.8 Nm (4.3 lb-ft) to 339 Nm (250 lb-ft) • Repeatability better than 1 arc-sec

Housed DDR Advantage

Consider how a Housed DDR motor improved a
medical manufacturing machine.
Product is located at the steel pins on the outside of the machine’s turret
as shown. The 115 kg load wheel has an inertia of 20 kg-m2. There are 96
steel pins for an index angle of 3.5 degrees to move.
The move is accomplished in less than 100 ms.

Realized Housed DDR Benefits

The Direct Drive Advantage
The following improvements were observed compared to the previous
design that used a mechanical indexer:
Improved Repeatability
The Housed DDR demonstrated a repeatability better than 1 arc-second
which was substantially better than the mechanical indexer.
No Degradation
Direct drive system performance, accuracy and repeatability do
not degrade over time as they do with a mechanical indexer. With
a mechanical indexer, as parts wear over time, the accuracy and
repeatability degrade.
Immediate Stop
The direct drive system can immediately stop if there is a process error.
The mechanical indexer required several cycles to stop which could
cause tooling and machine damage.
Greatly Reduced Audible Noise
With the mechanical indexer, the noise was at a level such that
two people would have to yell to hear each other. By contrast, if
you turned your back to the Housed DDR, you could barely detect
that it was running.
Easy Profile Change
Motion parameters such as index angle, speed, acceleration, and dwell
are very simple to change with the Housed DDR. The mechanical indexer
does not support flexible motion profiles.
Better Value
The Housed DDR is attractively priced compared to the mechanical
indexer it replaced. When the other advantages listed above are also
considered, the Housed DDR was the obvious choice.

w w w. k o l l m o r g e n . c o m 7
 Direct Drive Technology
d i r e c t

Conventional servo systems commonly have a mechanical transmission

which can consist of gears, gearheads, belts/pulleys or cams connected
between the motor and the load.
d r i v e

Gearbox
With Direct Drive Technology, the mechanical transmission is eliminated
and the motor is coupled directly to the load.
Motor
t e c h n o l o g y

Why Use Direct Drive Technology?

Increased Accuracy and Repeatability
Servomotor and Gearhead
A “precision” planetary gearhead could have a backlash of 1 arc-minute. This can
result in the load moving by 1 arc-minute with an absolutely stationary drive motor.
Kollmorgen’s standard direct drive rotary (DDR) servomotors have repeatability
better than 1 arc-second. Therefore, a direct drive motor can hold a position 60
times better than a conventional motor/gearhead.
The increased accuracy of direct drive technology results in a higher quality product
out of the machine:

• Print registration is more accurate

• Cut or feed lengths can be held more precisely
• Coordination with other machine axes is more accurate
Direct Drive Motor
• Indexing location is more exact
• Tuning issues due to backlash are eliminated
Gearbox
Higher Bandwidth 1 Backlash

Mechanical transmission components impose a limit on how fast a machine can start
Arc
and stop and also extend the required settling time. These factors limit the possible 0
throughput of a machine. Minutes
DDR
Repeatability
Direct drive technology removes these limitations and allows for much faster -1 60 Times Better
start/stop cycles and also provides greatly reduced settling time. This will allow a
greater throughput from the machine. Users of direct drive systems have reported
up to a 2X increase in throughput. Improved Repeatability

Improved Reliability and Zero Maintenance

Gears, belts, and other mechanical transmission parts break. By eliminating these parts
Conventional Rotary
and using DDR motors, the reliability of the machine is improved. Gearheads require Servo with Mechanical
Transmission
periodic lubrication and/or replacement in aggressive start/stop applications. Belts
require periodic tightening. There are no time-wear components in a direct drive motor
and consequently they require zero maintenance. DDR motors provide higher
throughput because start/stop
limitations of mechanical
transmissions are eliminated

Increased Throughput

8 K O L L MO R G E N

Fewer Parts
With direct drive motors, all you need is the motor and the mounting
bolts. This often replaces many parts including brackets, guards, belts,
pulleys, tensioners, couplings, and bolts, resulting in:
• Fewer parts on the BOM. Less parts to purchase, schedule,
inventory and control, and less parts to assemble.
• Assembly time of the servo drops from several hours with the
mechanical transmission to several minutes with the DDR.
• Reduced cost. Although a direct drive motor may carry a small
price-premium compared to a motor/gearhead with the same
torque, consider that there is an overall cost reduction when
eliminating the parts and labor of all the extra components required
in a servo system with mechanical transmission.
No Inertia Matching
Servo systems with mechanical transmissions require inertia matching
that limits the reflected load inertia at five to ten times the motor
inertia. If this limitation is not met, the system becomes difficult
to control due to instability issues. Inertia matching limitations of
mechanical transmission systems often force machine designers to
use a larger motor than would otherwise be required just to satisfy
the inertia matching requirement.
Such sizing conventions are not required with direct drive technology.
Since the motor is directly connected to the load, the inertia of the
motor and the load become a common inertia. Therefore, no inertia
matching is required when using DDR. DDR applications have run with
inertia ratios greater than 11,000:1.
Reduced Audible Noise
Machines with DDR motors have audible noise levels as low as 20 dB
less than the same machine with a mechanical transmission.
w w w. k o l l m o r g e n . c o m
d i r e c t
Three DDR Product Categories to Choose From
Kollmorgen’s 50 years of electromagnetic and electromechanical
design experience combined with our quality and service, allowed us
d r i v e
to refine and expand DDR technology into three product categories
for easy installation, use, and short lead times: KBM Frameless DDR,
Housed DDR, and the Cartridge DDR. This allows you to select the
t e c h n o l o g y
right DDR solution for your application.
KBM Series Frameless DDR
Frameless motors include a rotor and stator as separate components
which are integrated into, ride on the bearings of, and become a part of
the driven load. Frameless motors offer the most compact and lightweight
DDR solution available. The KBM series is Kollmorgen’s latest Frameless
DDR product. It provides excellent torque/volume with the use of high
performance magnet rotor structure and skewed armature assembly.
Housed DDR
The Housed DDR is a housed motor assembly featuring a factory aligned
high-resolution feedback device and precision bearings, allowing it to
function as the core of rotary indexing and rate table applications. The
system can also be used as a flexible indexer, providing programmable,
rapid indexing far exceeding the throughput and accuracy of conventional
mechanical or variable reluctance technology indexers.
Cartridge DDR
This motor is the first in the industry to combine the space-saving and
performance advantages of Frameless DDR technology with the ease of
installation of a full-frame motor. Consisting of a rotor, stator, and factory-
aligned high-resolution feedback device, the motor uses the machine’s
bearings to support the rotor. An innovative compression coupling engages
the rotor to the load and the frame of the motor mounts to the machine with
a bolt circle and pilot diameter just like a conventional servomotor, saving
space and design time and simplifying the overall system.
DDR Applications
Format Where Used
Application where size and weight
KBM Frameless DDR
must be absolutely minimized
Applications where the load rides on the motor’s bearings
Housed DDR
such as indexing or rate tables
Cartridge DDR Any application with existing bearings
9
A AK KD D SE
SER R
VOVO D DR RIVE
IVE

AKD™ Servo Drive

Our AKD series is a complete range of Ethernet-based servo drives that
are fast, feature-rich, flexible and integrate quickly and easily into any
application.* AKD ensures plug-and-play commissioning for instant,
seamless access to everything in your machine. No matter what your
application demands, AKD offers industry-leading servo performance,
communication options, and power levels, all in a smaller footprint.

This robust, technologically advanced family of drives delivers optimized

performance, when paired with our best-in-class components; producing
higher quality results at greater speeds and more uptime.

* Patents pending.

K O
K O LL LL MO
MO R
R G
G EE N
N
10

The Benefits of AKD Servo Drive
• Optimized Performance in Seconds
• Greater Throughput and Accuracy
• Easy-to-Use Graphical User Interface (GUI) for Faster
Commissioning and Troubleshooting
• Flexible and Scalable to Meet Any Application
w w w. k o l l m o r g e n . c o m
A K D
SE R VO
• Auto-tuning is one of the best and fastest in the industry
D R IVE
• Automatically adjusts all gains, including observers
• Immediate and adaptive response to dynamic loads
• Precise control of all motor types
• Compensation for stiff and compliant transmission and couplings
• Up to 27-bit-resolution feedback yields unmatched precision
and excellent repeatability
• Very fast settling times result from a powerful dual processor
system that executes industry-leading and patent pending servo
algorithms with high resolution
• Advanced servo techniques such as high-order observer and
bi-quad filters yield industry-leading machine performance
• Highest bandwidth torque-and-velocity loops. Fastest digital
current loop in the market
• Six-channel real-time software oscilloscope commissions
and diagnoses quickly
• Multi-function Bode Plot allows users to quickly evaluate
performance
• Auto-complete of programmable commands saves looking up
parameter names
• One-click capture and sharing of program plots and parameter
settings allow you to send machine performance data instantly
• Widest range of programming options in the industry
• 3 to 96 Arms continuous current; 9 to 192 Arms peak
• Very high power density enables an extremely small package
• True plug-and-play with all standard Kollmorgen servomotors
and positioners
• Supports a variety of single and multi-turn feedback devices—
Smart Feedback Device (SFD), EnDat2.2, 01, BiSS, analog Sine/
Cos encoder, incremental encoder, HIPERFACE®, and resolver
• Tightly integrated Ethernet motion buses without the need to
add large hardware: EtherCAT®, SynqNet®, Modbus/TCP,
and CANopen®
• Scalable programmability from base torque-and-velocity through
multi-axis master
11
 AKD Servo Drive
A K D

The AKD servo drive delivers cutting-edge technology and performance with one of the most compact footprints in the
industry. These feature-rich drives provide a solution for nearly any application, from basic torque-and-velocity applications,
SE R VO

to indexing, to multi-axis programmable motion with embedded Kollmorgen Automation Suite™. The versatile AKD sets the
standard for power density and performance.
D R IVE

KBM™ Frameless Motors

Micron™ Gearheads

AKM™ Servomotors

Cartridge Direct Drive Rotary ™ Motors Best-in-Class Components

AKD works seamlessly with Kollmorgen
motors and positioners – well-known
for quality, reliability, and performance.

Housed Direct Drive Rotary Motors

Direct Drive Linear Motors

Linear Positioners

AKD™ Servo Drive

Multi-Axis Precision Tables

12 K O L L MO R G E N
H

A K D
Modbus/TCP

SE R VO
D

D R IVE
W

Industry-leading power density

General Specifications

Drive Continuous Depth with Cable

Continuous Peak Height Width Depth
120 / 240 Vac Output Power Internal Regen Bend Radius
Current Current mm mm mm
1 & 3Ø (85 -265 V) Capacity (Watts) (Ohms) mm
(Arms) (Arms) (in) (in) (in)
(Watts) (in)

168 57 153 184

AKD-00306 3 9 1100 0 0
(6.61) (2.24) (6.02) (7.24)

168 57 153 184

AKD-00606 6 18 2000 0 0
(6.61) (2.24) (6.02) (7.24)

195 76 186 215

AKD-01206 12 30 4000 100 15
(7.68) (2.99) (7.32) (8.46)

250 100 230 265

AKD-02406 24 48 8000 200 8
(9.84) (3.94) (9.06) (10.43)

Drive Continuous Depth with Cable

Continuous Peak Height Width Depth
480 Vac Output Power Internal Regen Bend Radius
Current Current mm mm mm
3Ø (342 -528 V) Capacity (Watts) (Ohms) mm
(Arms) (Arms) (in) (in) (in)
(Watts) (in)

256 70 186 221

AKD-00307 3 9 2000 100 33
(10.08) (2.76) (7.32) (8.70)

256 70 186 221

AKD-00607 6 18 4000 100 33
(10.08) (2.76) (7.32) (8.70)

256 70 186 221

AKD-01207 12 30 8000 100 33
(10.08) (2.76) (7.32) (8.70)

310 105 229 264

AKD-02407 24 48 16,000 200 23
(12.20) (4.13) (9.02) (10.39)

AKD-04807 48 96 32,000 400 Coming Soon

AKD-09607 96 192 64,000 800 Coming Soon

Note: For complete AKD model nomenclature, refer to page 34.

w w w. k o l l m o r g e n . c o m 13
 Co-Engineering Capabilities
C O - E N G I N EE R I N G
Because Kollmorgen offers the highest quality and broadest range of best-in-class motion components, we can supply
standard, modified or customized solutions to meet any application need.
We have co-engineer solutions to meet your most difficult challenges and advance your competitive position. Drawing on
a wealth of knowledge and expertise, our engineering support team will work alongside with you to build a solution that
differentiates your machine and improves your bottom line.
Here are just few examples of how Kollmorgen delivers real value to companies likes yours:
C A P A B I L ITIES
What You Need Why Motion Matters
30% Increase in Throughput • Low inertia servomotors
• High bandwidth servo loops
• Simple, accurate, graphical programming tools
50% Increase in Accuracy and Quality • Low cogging servomotors
• Advaced observers and bi-quad filters
• Fast control loop update rates (.67µs)
25% Increase in Reliability • Innovative Cartridge DDR
TM
(Overall Equipment Effectiveness) • Eliminating parts on the machine
• No additional wearing components
50% Reduction in Waste • Superior motor/drive system bandwidth
• DDR technology:
– eliminates gearbox
– 20X more accurate than geared solution
14
Kollmorgen Co-Engineering Results
Using Kollmorgen Automation Suite ’s graphical
TM
camming design tool, Pipe Network and low-
TM
inertia AKM motors, a major supplier of medical
equipment increased throughput by more than
30% while improving accuracy and reducing
scrap.
Using or AKD , a next-generation CT scanning
TM
manufacturer achieved more than 50%
improvement in velocity ripple to produce the
most accurate and detailed medical images
possible while overcoming an extremely high
moment of inertia.
Using Kollmorgen’s award-winning Cartridge
DDR sevomotor technology, we eliminated
TM
more than 60 parts in a die-cutting machine and
increased the OEE by 25% and throughput by
20%.
We helped a manufacturer of pharmaceutical
packaging machines incorporate Housed DDR
motors to increase the throughput by 35% and
reduce scrap by more than 50% through more
accurate alignment of the capsules.
K O L L MO R G E N
 Housed DDR Motor System Summary

h o u s e d
AKD Servo Drive Performance
Performance Maximum
AKD- AKD- AKD- Continuous Torque1 Peak Torque
Chart Page Speed
n0060X n0120X n0240X

DD R M o t o r
Nm lb-ft Nm lb-ft RPM
D061 16 x 5.3 3.9 16.9 12.5 500
D062 16 x 9.8 7.2 33.5 24.7 500
D063 16 x 17.7 13.1 64.4 47.5 500
D081 20 x 15.9 11.7 45.0 33.2 500

s y s t e m
240 Volt Systems

D082 20 x 25.9 19.1 92.2 68.0 300

D083 20 x 50.4 37.2 160 118 250
D101 24 x 34.6 25.5 129 95.0 300

s u m m ar y
D102 24 x 63.4 46.7 227 167 200
D103 24 x 115 85.0 501 370 120
Housed DDR Motors

D141 28 x 108 80.0 367 271 200

D142 28 x 183 135 519 383 120
D143 28 x 339 250 1341 989 60
DH061 17 x 5.3 3.9 16.9 12.5 800
DH062 17 x 9.8 7.2 33.5 24.7 800
DH063 17 x 17.7 13.1 64.4 47.5 800
400 / 480 Volt Systems

DH081 21 x 15.9 11.7 45.0 33.2 500

DH082 21 x 25.9 19.1 92.2 68.0 500
DH083 21 x 50.4 37.2 160 118 500
DH101 25 x 34.6 25.5 129 95.0 300
DH102 25 x 63.4 46.7 227 167 300
DH103 25 x 115 85.0 501 370 250
DH141 29 x 108 80.0 367 271 300
DH142 29 x 183 135 519 383 300
DH143 29 x 339 250 1341 989 120

Note 1: Continuous torque with sine encoder feedback. For continuous torque with resolver feedback, see the Performance Data Table.

MotorMotor
Outside / Inside
Outside / InsideDiameters
Diameters by by Model
Model

D(H)06 D(H)08x D(H)10x D(H)14x

w w w. k o l l m o r g e n . c o m 15
 Housed DDR D06X Performance Data
230 VAC
System Performance: Symbols Units D061A/D061M D062A/D062M D063A/D063M
lb-ft 12.5 24.7 47.5
Peak Torque Tp (N-m) (16.9) (33.5) (64.4)
lb-ft 3.9 7.2 13.1
Sine Encoder Tc (N-m) (5.3) (9.8) (17.7)
Continuous1
Torque 40˚C lb-ft 4.3 8.0 14.5
Resolver Tc (N-m) (5.8) (10.8) (19.7)
rpm 500 500 500
Max. Operating Speed N max (rps) (8.3) (8.3) (8.3)
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Sine Encoder System Repeatability - arc/sec <1 <1 <1
Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±2.4 ±2.4 ±2.4
Accuracy - arc/sec ±270 ±270 ±270
Mechanical: lb 20.8 25.0 30.5
Wt
Weight kg (9.4) (11.3) (13.8)
lb-ft-sec2 0.0045 0.0052 0.0064
Rotor Inertia Jm (kg-m2) (0.0061) (0.0071) (0.0086)
lb-ft 1.8 1.8 1.8
Static Friction Adder for Sealed Units Tf (N-m) (2.4) (2.4) (2.4)
Max. Dynamic Axel Compression Load lbf 4,500 4,500 4,500
- (kg) (2,040) (2,040) (2,040)
(See page 33 for Details)

SYSTEM: D061 WITH AKD-n00606 AT 230 VAC SYSTEM: D062 WITH AKD-n00606 AT 230 VAC
lb-ft N-m lb-ft N-m
20 25 35
14
18
30
12 16 20
14 25
10
intermittent duty Zone intermittent duty Zone
12 15 20
8
TORQUE

TORQUE

10
(Resolver) 15 (Resolver)
6 8 10
6 10
4
4 5
2 (sine encoder) 5 (sine encoder)
2 Continuous duty Zone Continuous duty Zone
0 0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
RPM RPM

SYSTEM: D063 WITH AKD-n00606 AT 230 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply Tc by 1.06.
70
50 2. Curves for 230 V applicable to single or three phase input power.
60
40
50
intermittent duty Zone
30 40
TORQUE

30 (Resolver)
20
20
10
10 (sine encoder)
Continuous duty Zone
0 0
0 100 200 300 400 500 600
RPM

16 K O L L MO R G E N
Housed DDR DH06X Performance Data
400/480 VAC

HO u s e d
System Performance: Symbols Units DH061A/DH061M DH062A/DH062M DH063A/DH063M
lb-ft 12.5 24.7 47.5
Peak Torque Tp (N-m) (16.9) (32.8) (64.4)
lb-ft 3.9 7.2 13.1
Sine Encoder Tc

DD R D h 0 6 x
Continuous1 (N-m) (5.3) (9.8) (17.7)
Torque 40˚C lb-ft 4.3 8.0 14.5
Resolver Tc (N-m) (5.8) (10.8) (19.7)
Max. Operating Speed rpm 800 800 800
N max (rps) (13.3) (13.3) (13.3)
400/480 V 3 Phase
Resolution - counts/rev 134,217,728 134,217,728 134,217,728

p e rf o r m anc e
Sine Encoder System Repeatability - arc/sec <1 <1 <1
Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±10 ±10 ±10
Accuracy - arc/sec ±270 ±270 ±270
Mechanical: lb 20.8 25.0 30.5
Wt
Weight (kg) (9.4) (11.3) (13.8)
lb-ft-sec2 0.0045 0.0052 0.0064

d a t a
Rotor Inertia Jm (kg-m2) (0.0061) (0.0071) (0.0086)
lb-ft 1.8 1.8 1.8
Static Friction Adder for Sealed Units Tf (N-m) (2.4) (2.4) (2.4)
Max. Dynamic Axel Compression Load lbf 4,500 4,500 4,500
- (kg) (2,040) (2,040) (2,040)
(See Page 33 For Details)

SYSTEM: DH061 WITH AKD-n00607 AT 400/480 VAC SYSTEM: DH062 WITH AKD-n00607 AT 400/480 VAC
lb-ft N-m lb-ft N-m
20 40
14
18 35
12 25
16
30
10 14 20
intermittent duty Zone 25 intermittent duty Zone
12
8
TORQUE

TORQUE

10 15 20
(Resolver) (Resolver)
6 8
15
6 10
4 10
4
2 (sine encoder) 5 (sine encoder)
2 Continuous duty Zone 5 Continuous duty Zone
0 0 0 0
0 100 200 300 400 500 600 700 800 900 0 100 200 300 400 500 600 700 800 900
RPM RPM

SYSTEM: DH063 WITH AKD-n00607 AT 400/480 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply by 1.06.
50 70

60
40
50
intermittent duty Zone
30 40
TORQUE

(Resolver)
30
20
20
10
10 (sine encoder)
Continuous duty Zone
0 0
0 100 200 300 400 500 600 700 800 900
RPM

w w w. k o l l m o r g e n . c o m 17
 Housed DDR D06X Outline Drawings
HOUSED

"O" RING GROOVE

1.88-2.03
(.074-.0 80)

3.46-3.60
POWER "A" (.136-.142) 67.6
(2.66)
CONNECTOR
DDD R

NOM.
Dimensions in mm (inches) 40.6 "B" Ø139.7 42.2
(1.60)
(5.50) (1.66)
11.5-13.9
SIGNAL (.45-.55)
CONNECTOR
3.18-3.93
0 6 x

(.125-.155)

106
(4.18) 125.6
o u t l i n e

Ø176 NOM. (4.95)

NOM.
(6.93)
Ø 175.2 8
175.2 8 Ø 107.97 175.24
Ø 107.93 6.901
175.24 4.251 6.899
6.901 4.249
6.899
-G-
-E-
d raw i ng s

.10 (.004) C
.10 (.004) G

PILOT
END
8X 45 8X 45
13.3-14.2 11.2 -A-
(.52-.56) (.44) .07 (.003) G
M6X1 X 15 (.59) MIN. DP. 2230' 8X 45
8 PL. ON A Ø155 (6.102) BASIC "C" REF.
M6X1 X 15 (.59) MIN. DP.
Ø .38 (.015) M F E M -B- 8 PL. ON A Ø155 (6.102) BASIC
"E" .12 (.005) C Ø .38 (.015) M B A M
.12 (.005) A M6X1 X 12 (.47) MIN. DP.
"D" 8 PL. ON A Ø80 (3.150) BASIC
-C-
-F- -D- Ø .38 (.015) M D C M
.10 (.004) C

FLANGE OPTION 90 CONNECTOR OPTION

POWER CABLE
BEND RADIUS:
STATIC - 127 (5.0) 83.8
DYNAMIC - 191 (7.5) (3.30)
NOM.
FEEDBACK CABLE
BEND RADIUS: 68.6
STATIC - 107 (4.2) (2.70)
DYNAMIC - 160 (6.3) NOM.

394.97
(15.55)
220.01 MAX.
Ø 219.97
8.662
8.660 147.3
(5.80)
-E- NOM.
.10 (.004) G 106
(4.18)
NOM.
2230'
13.3-14.2
(.52-.56)
-F-
8X 45
.25 (.010) G

Ø8.82-8.99 (.347-.354) THRU STRAIGHT CONNECTOR OPTION

8 PL. ON A Ø200.0 (7. 874) BASIC
Ø .38 (.015) M F E M 297
(11.7)
MAX.

Model “A” “B” “C” “D” “E”

D061 91.9 37.1-40.1 129.42-130.171 32.59-134.11 Resolver Sine Encoder
(3.62) (1.46-1.58) (5.095-5.125) (5.220-5.280)
D062 103.4 48.6-51.5 140.85-141.601 44.02-145.54 Ø47.71-47.80 Ø42.88-42.98
(4.07) (1.91-2.03) (5.545-5.575) (5.660-5.730) (1.878-1.882) (1.688-1.692)
D063 126.2 71.4-74.4 163.71-164.46 166.88-168.40
(4.97) (2.81-2.93) (6.445-6.475) (6.570-6.630)

Note: Dimensions "C" and "D" increase by 7.90mm (0.311") on sine encoder models with IP65 or IP67 seals.

18 K O L L MO R G E N
Notes

w w w. k o l l m o r g e n . c o m 19
 Housed DDR D08X Performance Data
230 VAC
HO u s e d

System Performance: Symbols Units D081A/D081M D082A/D082M D083A/D083M

lb-ft 33.2 68.0 118
Peak Torque Tp (N-m) (45.0) (92.2) (160)
lb-ft 11.7 19.1 37.2
Sine Encoder Tc
DD R D 0 8 x

Continuous1 (N-m) (15.9) (25.9) (50.4)

Torque 40˚C lb-ft 13.0 21.2 41.3
Resolver Tc (N-m) (17.6) (28.7) (56.0)
rpm 500 300 250
Max. Operating Speed N max (rps) (8.3) (5.0) (4.2)
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
p e rf o r m anc e

Sine Encoder System Repeatability - arc/sec <1 <1 <1

Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±2.4 ±2.4 ±2.4
Accuracy - arc/sec ±140 ±140 ±140
Mechanical: lb 39.5 47.5 63.6
Wt
Weight (kg) (17.9) (21.5) (28.8)
d a t a

lb-ft-sec2 0.0106 0.0143 0.0222

Rotor Inertia Jm (kg-m2) (0.0144) (0.0194) (0.0301)
lb-ft 2.0 2.0 2.0
Static Friction Adder for Sealed Units Tf (N-m) (2.7) (2.7) (2.7)
Max. Dynamic Axel Compression Load lbf 7,400 7,400 7,400
- (kg) (3,360) (3,360) (3,360)
(See page 33 for details)

SYSTEM: D081 WITH AKD-n00606 AT 230 VAC SYSTEM: D082 WITH AKD-n00606 AT 230 VAC
lb-ft N-m lb-ft N-m
50 100
35 70
45 90
30 40 60 80

25 35 50 70
intermittent duty Zone intermittent duty Zone
30 60
20 40
TORQUE

TORQUE

25 50
(Resolver) (Resolver)
15 20 30 40

10 15 30
20
10 20
5 (sine encoder) 10 (sine encoder)
5 Continuous duty Zone 10 Continuous duty Zone
0 0 0 0
0 100 200 300 400 500 600 0 50 100 150 200 250 300 350
RPM RPM

SYSTEM: D083 WITH AKD-X00606 AT 230 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply Tc by 1.06.
180 2. Curves for 230 V applicable to single or three phase input power.
120 160

100 140

120 intermittent duty Zone

80
100
TORQUE

60 80 (Resolver)

60
40
40
20 (sine encoder)
20 Continuous duty Zone
0 0
0 50 100 150 200 250 300
RPM

20 K O L L MO R G E N
Housed DDR DH08X Performance Data
400/480 VAC

HO u s e d
System Performance: Symbols Units DH081A/DH081M DH082A/DH082M DH083A/DH083M
lb-ft 33.2 68.0 118
Peak Torque Tp (N-m) (45.0) (92.2) (160)
lb-ft 11.7 19.1 37.2
Sine Encoder Tc

DD R DH 0 8 x
Continuous1 (N-m) (15.9) (25.9) (50.4)
Torque 40˚C lb-ft 13.0 21.2 41.3
Resolver Tc (N-m) (17.6) (28.7) (56.0)
Max. Operating Speed rpm 500 500 400/500
N max (rps) (8.3) (8.3) (6.7/8.3)
400/480 V 3 Phase
Resolution - counts/rev 134,217,728 134,217,728 134,217,728

p e rf o r m anc e
Sine Encoder System Repeatability - arc/sec <1 <1 <1
Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±2.4 ±2.4 ±2.4
Accuracy - arc/sec ±140 ±140 ±140
Mechanical: lb 39.5 47.5 63.6
Wt
Weight (kg) (17.9) (21.5) (28.8)

d a t a
lb-ft-sec2 0.0106 0.0143 0.0222
Rotor Inertia Jm (kg-m2) (0.0144) (0.0194) (0.0301)
lb-ft 2.0 2.0 2.0
Static Friction Adder for Sealed Units Tf (N-m) (2.7) (2.7) (2.7)
Max. Dynamic Axel Compression Load lbf 7,400 7,400 7,400
- (kg) (3,360) (3,360) (3,360)
(See Page 33 for Details)

SYSTEM: DH081 WITH AKD-n00607 AT 400/480 VAC SYSTEM: DH082 WITH AKD-n00607 AT 400/480 VAC
lb-ft N-m lb-ft N-m
50 100
35 70
45 90
30 40 60 80

25 35 50 70
intermittent duty Zone intermittent duty Zone
30 60
20 40
TORQUE

TORQUE

25 50
(Resolver) (Resolver)
15 20 30 40

10 15 20 30
10 20
5 (sine encoder) 10 (sine encoder)
5 Continuous duty Zone 10 Continuous duty Zone
0 0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
RPM RPM

SYSTEM: DH083 WITH AKD-n00607 AT 400/480 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply by 1.06.
180
400v
120 160

100 140

120 intermittent duty Zone

80
100
TORQUE

60 80 (Resolver)

60
40
40
20 (sine encoder)
20 Continuous duty Zone
0 0
0 100 200 300 400 500 600
RPM

w w w. k o l l m o r g e n . c o m 21
 Housed DDR D08X Outline Drawings
"O" RING GROOVE
h o u s e d

1.88-2.03
(.074-.080)
Dimensions in mm (inches)
3.46-3.60
(.136-.142)
POWER 67.6
CONNECTOR (2.66)
"A"
DD R D 0 8 x

NOM.
SIGNAL 50.8
CONNECTOR "B" 42.2
(2.00) Ø172 (1.66)
11.5-13.9 (6.77)
.10 (.004) G (.45-.55)
-E-
3.18-3.93
(.125-.155) 147.3
(5.80)
NOM.
o u t l i n e

127.8
Ø 217.19 (5.03)
217.15 NOM.
8.551
8.549 Ø218.4
(8.60) Ø 217.19
217.15
8.551
8.549
d raw i ng s

Ø 133.37
133.33
5.251
5.249
.10 (.004) C

PILOT
END 8X 45

"E" 8X 45
11.7-12.7 11.2 2230 ' 8X 45
.12 (.005) A (.44) -A-
(.46-.50) .07 (.003) G
-C- "C" REF.
M6X1 X 15 (.59) MIN. DP. M6X1 X 15 (.59) MIN. DP.
8 PL. ON A Ø190 (7.480) BASIC -B- 8 PL. ON A Ø100 (3.937) BASIC
.12 (.005) G Ø .38 (.015) M D C M
Ø .38 (.015) M F E M

"D" M6X1 X 15 (.59) MIN. DP.

-F- -D- 8 PL. ON A Ø190 (7.480) BASIC
.10 (.004) C .10 (.004) C Ø .38 (.015) M B A M

FLANGE OPTION 90 CONNECTOR OPTION

-E-
POWER CABLE
BEND RADIUS:
Ø 260.14 STATIC - 127 (5.0) 83.6
260.05 DYNAMIC - 191 (7.5)
10.242 (3.29)
10.238 NOM.
FEEDBACK CABLE
BEND RADIUS: 68.1
STATIC - 107 (4.2) (2.68)
DYNAMIC - 160 (6.3) NOM.

416.56
(16.40)
MAX.

167.9
(6.61)
NOM.
127.8
(5.03)
NOM.

8X 45

11.7-12.7
2230 ' (.46-.50)
STRAIGHT CONNECTOR OPTION
Ø8.82-8.99 (.347-.354) THRU -F-
8 PL. ON A Ø240.00 (9.449) BASIC 297
.25 (.010) G (11.7)
Ø .38 (.015) M F E M MAX.

Model “A” “B” “C” “D” “E”

D081 107.7 42.7-45.7 144.66-145.41 147.83-149.35 Resolver Sine Encoder
(4.24) (1.68-1.80) (5.695-5.725) (5.820-5.880)
D082 128.0 63.0-66.0 164.98-165.73 168.15-169.67 Ø63.45-63.55 Ø42.88-42.98
(5.04) (2.48-2.60) (6.495-6.525) (6.620-6.680) (2.498-2.502) (1.688-1.692)
D083 168.7 71.4-74.4 205.62-206.37 208.79-210.31
(6.64) (4.08-4.20) (8.095-8.125) (8.220-8.280)

Dimensions "C" and "D" increase by 8.64mm (0.340") on sine encoder models with IP65 or IP67 seals.

22 K O L L MO R G E N
 HO u s e d DD R D 1 0 x p e rf o r m anc e d a t a

23
w w w. k o l l m o r g e n . c o m
Notes
 Housed DDR D10X Performance Data
230 VAC
System Performance: Symbols Units D101A/D101M D102A/D102M D103A/D103M
lb-ft 95.0 167 370
Peak Torque Tp (N-m) (129) (227) (501)
lb-ft 25.5 46.8 85.0
Sine Encoder Tc (N-m) (34.6) (63.4) (115)
Continuous1
Torque 40˚C lb-ft 30.0 55.0 100
Resolver Tc (N-m) (40.7) (74.6) (136)
rpm 300 200 120
Max. Operating Speed N max (rps) (5.0) (3.3) (2.0)
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Sine Encoder arc/sec <1 <1 <1
System Repeatability -
Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±2.4 ±2.4 ±2.4
Accuracy - arc/sec ±135 ±135 ±135
Mechanical: lb 69.5 96.5 134
Wt
Weight (kg) (31.5) (43.8) (60.8)

lb-ft-sec2 0.0511 0.0732 0.129

Rotor Inertia Jm (kg-m2) (0.0693) (0.0992) (0.175)
lb-ft 2.6 2.6 2.6
Static Friction Adder for Sealed Units Tf (N-m) (3.5) (3.5) (3.5)
Max. Dynamic Axel Compression Load lbf 11,700 11,700 11,700
- (kg) (5,300) (5,300) (5,300)
(See Page 33 for Details)

SYSTEM: D101 WITH AKD-n00606 AT 230 VAC SYSTEM: D102 WITH AKD-n00606 AT 230 VAC
lb-ft N-m lb-ft N-m
140 250
120

120
150 200
100
100
intermittent duty Zone intermittent duty Zone
60 80 150
TORQUE

100
TORQUE

(Resolver) (Resolver)
60 100
40
40 50
20 50
20 (sine encoder) (sine encoder)
Continuous duty Zone Continuous duty Zone
0 0 0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250
RPM RPM

SYSTEM: D103 WITH AKD-n01206 AT 230 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply Tc by 1.06.
600
2. Curves for 230 V applicable to single or three phase input power.
400 
500

300 400
intermittent duty Zone
TORQUE

300
200 (Resolver)

200
100
100 (sine encoder)
Continuous duty Zone
0 0
0 20 40 60 80 100 120 140
RPM

24 K O L L MO R G E N
Housed DDR DH10X Performance Data
400/480 VAC

HO u s e d
System Performance: Symbols Units DH101A/DH101M DH102A/DH102M DH103A/DH103M
lb-ft 95.0 167 370
Peak Torque Tp (N-m) (129) (227) (501)
lb-ft 25.5 46.8 85.0
Sine Encoder Tc

DD R DH 1 0 x
Continuous1 (N-m) (34.6) (63.4) (115)
Torque 40˚C lb-ft 30.0 55.0 100
Resolver Tc (N-m) (40.7) (74.6) (136)
Max. Operating Speed rpm 300 300 200/250
N max (rps) (5.0/5.0) (5.0/5.0) (3.3/4.3)
400/480 V 3 Phase
Resolution - counts/rev 134,217,728 134,217,728 134,217,728

p e rf o r m anc e
Sine Encoder System Repeatability - arc/sec <1 <1 <1
Accuracy - arc/sec ±26 ±26 ±26
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Resolver System Repeatability - arc/sec ±2.4 ±2.4 ±2.4
Accuracy - arc/sec ±135 ±135 ±135
Mechanical: lb 69.5 96.5 134
Wt
Weight (kg) (31.5) (43.8) (60.8)

d a t a
lb-ft-sec2 0.0511 0.0732 0.129
Rotor Inertia Jm (kg-m2) (0.0693) (0.0992) (0.175)
Static Friction Adder lb-ft 2.6 2.6 2.6
Tf (N-m) (3.5) (3.5) (3.5)
For Sealed Units
Max. Dynamic Axel Compression lbf 11,700 11,700 11,700
- (kg) (5,300) (5,300) (5,300)
Load (See Page 33 For Details)

SYSTEM: DH101 WITH AKD-n00607 AT 400/480 VAC SYSTEM: DH102 WITH AKD-n00607 AT 400/480 VAC
lb-ft N-m lb-ft N-m
140 250
120
400v
120
150 200
100
100
intermittent duty Zone intermittent duty Zone
60 150
80
100
TORQUE

TORQUE

(Resolver) (Resolver)
60 100
40
40 50
20 50
20 (sine encoder) (sine encoder)
Continuous duty Zone Continuous duty Zone
0 0 0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
RPM RPM

SYSTEM: DH103 WITH AKD-n01207 AT 400/480 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply by 1.06.
600
400
500 400v

300 400
intermittent duty Zone
TORQUE

300
200 (Resolver)

200
100
100
(sine encoder) Continuous duty Zone
0 0
0 50 100 150 200 250 300
RPM

w w w. k o l l m o r g e n . c o m 25
 Housed DDR D10X Outline Drawings
"O" RING GROOVE
HOUSED

Dimensions in mm (inches)
1.88-2.03
(.074-.080)
3.46-3.60
POWER "A" (.136-.142) 67.6
"E" CONNECTOR (2.66)
59.7 "B" NOM.
SIGNAL (2.35) 42.2
DD R

.12 (.005) A Ø229.9 (1.66)

CONNECTOR .45-.55 (9.05)
-C- (11.5-13.9) NOM.
.10 (.004) G
3.6 (.14)
-E-
D 1 0 x

180.5
(7.11)
PILOT 160.9 NOM.
END (6.34)
NOM.
o u t l i n e

280.02
Ø 279.90 177.82
11.025 Ø 177.78
11.020 7.001
6.999

280.02
d raw i ng s

Ø 279.90
11.025
11.020
Ø284.2
(11.19)

8X 45

8X 45 8X 45
13.8-14.7 11.2 -A- 2230'
(.54-.58) (.44) .07 (.003) G
M8X1.25 X 20.3 (.80) MIN. DP. "C" REF.
8 PL. ON A Ø250.00 (9.843) BASIC .10 (.004) C M8X1.25 X 20.3 (.80) MIN. DP.
-B- 8 PL. ON A Ø130.00 (5.118) BASIC
Ø .38 (.015) M F E M -G-
.12 (.005) G Ø .38 (.015) M D C M

"D" M8X1.25 X 20.3 (.80) MIN. DP.

-F- -D- 8 PL. ON A Ø250.00 (9.843) BASIC
.12 (.005) G .10 (.004) C Ø .38 (.015) M B A M

FLANGE OPTION
90° CONNECTOR OPTION

POWER CABLE
BEND RADIUS:
Ø 330.06 STATIC - 127 (5.0)
83.7
329.94 DYNAMIC - 191 (7.5)
12.995 (3.29)
12.990 FEEDBACK CABLE NOM.
BEND RADIUS: 68.2
STATIC - 107 (4.2) (2.68)
DYNAMIC - 160 (6.3) NOM.
449.83
(17.71)
MAX.

200.9
(7.91)
NOM. 160.9
(6.34)
NOM.

8X 45
13.8-14.7 STRAIGHT CONNECTOR OPTION
(.54-.58)
297
2230' .10 (.004) G -F- (11.7)
Ø8.81-8.97 (.347-.354) THRU -E- .25 (.010) G MAX.
8 PL. ON A Ø310.00 (12.205) BASIC
Ø .38 (.015) M F E M

Model “A” “B” “C” “D” “E”

D101 110.5 36.6-39.6 152.53-153.28 155.71-157.22 Resolver Sine Encoder
(4.35) (1.44-1.56) (6.005-6.035) (6.130-6.190)
D102 142.2 68.4-71.3 184.28-185.03 187.46-188.97 Ø73.07-72.98 Ø42.88-42.98
(5.60) (2.69-2.81) (7.255-7.285) (7.380-7.440) (2.877-2.873) (1.688-1.692)
D103 205.7 131.9-134.8 247.78-248.53 250.96-252.47
(8.10) (5.19-5.31) (9.755-9.785) (9.880-9.940)
Note: Dimensions "C" and "D" increase by 7.57mm (0.298") on sine encoder models with IP65 or IP67 seals.

26 K O L L MO R G E N
Notes

w w w. k o l l m o r g e n . c o m 27
 Housed DDR D14X Performance Data
230 VAC
HO u s e d

System Performance: Symbols Units D141M D142M D143M

lb-ft 271 383 989
Peak Torque Tp (N-m) (367) (519) (1341)
Continuous1 lb-ft 80.0 135 250
Sine Encoder Tc
DD R D 1 4 x

Torque 40˚C (N-m) (108) (183) (339)

rpm 200 120 60
Max. Operating Speed N max (rps) (3.3) (2.0) (1.0)
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Sine Encoder System Repeatability - arc/sec <1 <1 <1
p e rf o r m anc e

Accuracy - arc/sec ±26 ±26 ±26

Mechanical: lb 131 191 323
Wt
Weight kg (59.4) (86.6) (146)
lb-ft-sec2 0.120 0.202 0.400
Rotor Inertia Jm (kg-m2) (0.163) (0.274) (0.542)
lb-ft 2.6 2.6 2.6
Static Friction Adder for Sealed Units Tf (N-m) (3.5) (3.5) (3.5)
Max. Dynamic Axel Compression Load lbf 12,700 12,700 12,700
- (kg) (5,760) (5,760) (5,760)
(See Page 33 for Details)
d a t a

SYSTEM: D141 WITH AKD-n01206 AT 230 VAC SYSTEM: D142 WITH AKD-n01206 AT 230 VAC
lb-ft N-m lb-ft N-m
400 600
400
350
250 500
300
200 300 400
250 intermittent duty Zone intermittent duty Zone
TORQUE

TORQUE

150 200 300

(Resolver) 200
150
100 200
100 100
50 (sine encoder) 100
50 Continuous duty Zone Continuous duty Zone
0 0 0 0
0 50 100 150 200 250 0 20 40 60 80 100 120 140
RPM RPM

SYSTEM: D143 WITH AKD-n02406 AT 230 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply by 1.06.
1600

1400
1000
1200
800
1000
intermittent duty Zone
TORQUE

600 800

600
400
400
200
200 Continuous duty Zone
0 0
0 10 20 30 40 50 60 70
RPM

28 K O L L MO R G E N
Housed DDR DH14X Performance Data
400/480 VAC

HO u s e d
System Performance: Symbols Units DH141M DH142M DH143M
lb-ft 271 383 989
Peak Torque Tp (N-m) (367) (519) (1341)
Continuous1 lb-ft 80.0 135 250
Sine Encoder Tc

DD R DH 1 4 x
Torque 40˚C (N-m) (108) (183) (339)
Max. Operating Speed rpm 300 250/300 120
N max (rps) (5) (4.2/5) (2)
400/480 V 3 Phase
Resolution - counts/rev 134,217,728 134,217,728 134,217,728
Sine Encoder System Repeatability - arc/sec <1 <1 <1
Accuracy - arc/sec ±26 ±26 ±26

p e rf o r m anc e
Mechanical: lb 131 191 323
Wt
Weight (kg) (59.4) (86.6) (146)
lb-ft-sec2 0.120 0.202 0.400
Rotor Inertia Jm (kg-m2) (0.163) (0.274) (0.542)
lb-ft 2.6 2.6 2.6
Static Friction Adder for Sealed Units Tf (N-m) (3.5) (3.5) (3.5)
Max. Dynamic Axel Compression Load lbf 12,700 12,700 12,700
- (kg) (5,760) (5,760) (5,760)
(See Page 33 for Details)

d a t a
SYSTEM: DH141 WITH AKD-n01207 AT 400/480 VAC SYSTEM: DH142 WITH AKD-n01207 AT 400/480 VAC
lb-ft N-m lb-ft N-m
400 600
400
350
250 500
400v
300
200 300 400
250 intermittent duty Zone intermittent duty Zone
TORQUE

TORQUE

150 200 300

(Resolver) 200
150
100 200
100
100
50 (sine encoder) 100
50 Continuous duty Zone Continuous duty Zone
0 0 0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
RPM RPM

SYSTEM: DH143 WITH AKD-n02407 AT 400/480 VAC Notes:

lb-ft N-m
1. For 25°C ambient, multiply by 1.06.
1400
1000
400v Limit
1200
800
1000
intermittent duty Zone
600 800
TORQUE

600
400
400
200
200
Continuous duty Zone
0 0
0 20 40 60 80 100 120 140
RPM

w w w. k o l l m o r g e n . c o m 29
 Housed DDR D14X Outline Drawings
h o u s e d

.10 (.004) C
Dimensions in mm (inches) .25 (.010) C -D-
-F- "A" 90° ROTATABLE SIGNAL
Ø9.07-9.24 (.357-.364) THUR .12 (.005) C CONNECTOR
12PL. ON A Ø384.99 (15.157) BASIC -B-
Ø.53 (.021) M F H M "B" 90° ROTATABLE POWER
CONNECTOR
DD R D 1 4 x

18.04-18.54 "C" 19.1 (.75)

15° (.710-.730) NOM.
2PL. 218.1 (8.59) M8X1.25X20.3 (.91) MIN. DEEP
12X30° 3.26-3.86 2PL. REF 8° 12PL. ON A Ø330 (12.992) BASIC
(.128-.152) Ø.53 (.021) M B A M
12X30
M8X1.25X14.2 (.56) MIN. DEEP
12PL. ON A Ø150.01 (5.906) BASIC
.30 (.018) C Ø361.83-361.95 Ø.53 (.021) M D G M
(14.245-14.250) 15°
-H- 12X30°
o u t l i n e

"D" .12 (.005) C 12X30°

NOM. -A-

Ø177.78-177.82
(6.999-7.001)
.10 (.005) C
-G-
d raw i ng s

15.76-
16.36
(.620-
.644)
Ø360.7
(14.20)

45°

M10X1.25 X 19.1 (.75) DEEP 1.88-2.03 Ø74.2 M10X1.5X.80 (20.3) MIN. DEEP
2 PL. EQ. SPACED ON A Ø342.9 (13.50) Ø229.9 (2.92) 2PL. EQ. SPACED ON A Ø13.00 (330.2)
Ø247.7 (.074-.080) (9.05) Ø42.88-42.97
(HOLES PROVIDED FOR LIFTING) (1.688-1.692)
(9.75)
THRU BORE
.13 (.005) C
3.46-3.60
(.136-.142)
3.46-3.60 90 CONNECTOR OPTION
M8X1.25 X 19.1 (.75) MIN DP (.136-.142)
12 PL. ON A Ø300.00 (11.811) BASIC 1.88-2.03
(.074-.080) 288.97
Ø.53 (.021) M F H M (11.37)
MAX.
15° FACE MOUNT OPTION

12X30°

Ø361.83-361.95
(14.245-14.250) POWER CABLE
.30 (.018) C BEND RADIUS:
STATIC-127 (5.0)
-H- DYNAMIC-191 (7.5)
FEEDBACK CABLE
BEND RADIUS: STRAIGHT CONNECTOR OPTION
STATIC-107 (4.2)
DYNAMIC-160 (6.3)

275.9
(10.85)
MAX.

45° M10X1.25 X 19.1 (.75) DEEP

2 PL. EQ. SPACED ON A Ø 337.3 (13.28)
(HOLES PROVIDED FOR LIFTING)

Model “A” “B” “C” “D”

D141 155.92-157.02 152.66-153.16 75.5 76.7
(6.138-6.182) (6.010-6.030) (2.97) (3.02)
D142 219.42-220.52 216.16-216.66 138.9 108.5
(8.638-8.682) (8.510-8.530) (5.47) (4.27)
D143 346.42-347.52 343.16-343.66 266.0 172.0
(13.638-13.682) (13.510-13.530) (10.47) (6.77)

30 K O L L MO R G E N
Notes

w w w. k o l l m o r g e n . c o m 31
 Custom Applications
h USTOM
C
DDo u s e d
A P RP L m
I Co At TIO
o r N S

PRECISION DOWEL PIN HOLES 0.250" FOR DDR WITH PRECISION TOLERANCE COMPONENTS
CUSTOMER INDEXING FOR PRECISE POSITIONING

DDR MOTOR, ENCODER OPTION WITH DDR WITH AIR COOLING OPTION TO INCREASE
DUAL SHAFT SEALS, IP67 CONTINUOS OUTPUT TORQUE

32 K O L L MO R G E N
 Application Notes

appl
A P P L Ii C
Tension
Radial
Compression Force

caA TIO
"D"

t i o N
"D"

n
"L"

n OTES
N
Offset CL of bearing

o t e s
Axial
Force

Moment Load = Force * (D + L)

L=0

Moment Load = Force * D

M a x i m u m M o m e n t Lo a d M a x i m u m A x i a l Lo a d R a t i n g s
Maximum Moment Load Maximum Axial Load Ratings
Single Bearing Dual Bearing
lbs kg
Model lb-ft N-m lb-ft N-m
D061 53.3 72.3 71.7 97.2
Compression 4500 2040
D062 47.5 64.4 79.5 108 Tension 932 423
D063 43.4 58.9 87.2 118
D081 62.6 84.9 114 154
Compression 7400 3360
D082 52.3 70.9 131 177 Tension 819 371
D083 39.3 53.3 174 236
D101 142 192 322 437
Compression 11700 5300
D102 108 146 279 378 Tension 1405 637
D103 72.6 98.4 305 413
D141 234 317 472 640
D142 134 182 409 555 Compression 11700 5300
Application notes:
Tension 1405 637
D143Axial load ratingsN/A
dynamic values based on an N/AL10 life rating when motor391 is mounted on a rigid base 530
and
running under normal operating conditions. For L10 life ratings for applications where high rotational accuracy
is desired or operation during vibration or shock, please contact Customer Support.
Moment load ratings are limited by shaft deflection at the resolver;
Application Notes:
1.
for sine encoder units please contact Customer Support.
Axial loadmotor
ratingisdynamic values based on anangle
L10 life rating when motor is mounted on a rigid base and running under
Model Dim. “L” (in)
Standard not designed for repetitive small oscillations less than ± 13°.
normal
Please operation conditions.
contact Customer SupportLfor
10 life ratingsoptions.
additional for applications where high rotational accuracy is desired or operation during D(H)06x (1.05)
vibration
Motor is or
notshock,
intendedplease contact
to be directly customer
coupled support
to a load which at
has(540) 633-3545,
it’s own or through
two bearing system. email at support@kollmorgen.com.
2. Standard
A flexiblemotor is isnot
coupling designed
advised for repetitive
to prevent premature small
bearingangle
failureoscillations less than ± 13°. Please contact customer support for
in these applications. D(H)08x (1.21)
Motor mayoptions.
additional be mounted in any orientation provided the axial (both tension and compression) limits are observed.
3. MotorAll applications having moment
is not intended loads incoupled
to be directly tension should be reviewed
to a load which by hasCustomer
its ownSupport.
two bearing system. D(H)10x (1.58)
All bolts for mounting load and base should be used to ensure stiff coupling.
4. Motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed. All D(H)14x (1.44)
applications having moment loads in tension should be reviewed by Customer Support.
5. All bolts for mounting load and base should be used to ensure stiff coupling. System Cable Sets with SERVO STAR ®

w w w. k o l l m o r g e n . c o m 33
 Model Nomenclature
Housed DDR Motor
M o d e l

DH 08 1 M - 1 2 - 1 3 1 0 - xxx
N o m e ncla t u r e

Direct Drive Series Designated for Specials

D = 115/230 VAC winding
DH = 400/480 VAC winding Unit Seal
0 = Non-sealed unit
Motor Frame Size 5 = IP652 - length increase
06 = 6.93” O.D. 7 = IP672 - length increase
08 = 8.60” O.D.
10 = 11.19” O.D. Bearing Option
14 = 14.25” O.D. 1 = Single bearing design
2 = Dual bearing design3
Rotor Stack Length
1 = Short stack Feedback Device
2 = Mid stack 2 = Resolver (“A” Winding Type)1
3 = Long stack 3 = Sine Encoder (“M” Winding Type)

Winding Type Shaft Option

A = Std. w/ resolver1 1= Straight thru bore w/ face coupling
M = Std. w/ sine encoder
Connector Type
Mounting Option 2 = Straight
1 = Face mount 3 = 90o, rotatable
2 = Flange mount

Notes:
1. Not available on D14x & DH14x.
2. Encoder sealed motors have increased length. See outline drawing.
3. Standard on D143 & DH143 models.

AKD Servo Drive

AKD – B 003 06 – NA AN- 0000
AKD Series Variants
0000 = Standard
Version
B = Base drive
P = Position indexer (motion tasking)
Connectivity
AN = Analog command
CN = CANopen
Current Rating EC = EtherCAT
003 = 3 Amp SQ = SynqNet
006 = 6 Amp
012 = 12 Amp
024 = 24 Amp Extension
NA = Without extensions

Voltage
06 = 120/240 Vac 1Ø/3Ø
07 = 480 Vac 3Ø

Note: Options shown in bold blue text are considered standard.

34 K O L L MO R G E N
MOTIONEERING Application Engine ®

To help select and size Kollmorgen components, this Windows®-based motor-sizing program takes a systems approach to

MOTIO N EE R I N G
the selection of brushless, DC servomotors, stepper motors and drives. MOTIONEERING application engine, available at
www.kollmorgen.com, uses a project concept for the collection and saving of rotary and linear multi-axis load information.
This provides the user the flexibility to sum the effects of multiple axes of motion for power supply and shunt regeneration sizing.

A wide variety of linear and rotary mechanisms are provided including lead screw, rack and pinion, conveyor, nip rolls,
cylinder, rotary, and direct data-entry using unique sizing algorithms and product databases criteria.

A P P L I C A TIO N
The searchable database consists of hundreds of systems on product combinations including rotary housed and frameless
brushless servomotors, direct drive rotary and linear brushless servomotors, linear positioners (electric cylinders, rodless
positioners, and precision tables) and stepper systems.

The MOTIONEERING application engine also provides versatile units-of-measure selection options for mechanism and
motion profile data-entry, with the ability to convert data into other available units. Online Help explains program functions
and the definition of terms and equations used in the program.

E N G I N E
Features
• Group multiple mechanisms within a “project” – organize and
combine data for power supply and regeneration sizing
• Types of mechanisms for analysis include lead screw, rack and pinion,
conveyor, nip rolls, rotary and direct drive linear motor
• Motion profile options include simple triangle, 1/3-1/3-1/3 trapezoidal,
variable traverse trapezoidal, and more
• Search results display shows color highlighted solution set of options
for easy evaluation of system specifications and selection

Supported Operating Systems

• Microsoft® Windows 2000, XP, Vista

Motioneering 6.0 includes

• Electric cylinder sizing and selection with AKM servomotor systems
• Rodless actuator with AKM servomotor systems
(performance curves included)
• Precision table with AKM servomotor systems
(performance curves included)
• PDF report functionality (includes application, drive, motor, positioner,
and system specifications all in one easy-to-read report)

w w w. k o l l m o r g e n . c o m 35
 About Kollmorgen
Kollmorgen is a leading provider of motion systems and
components for machine builders. Through world-class
knowledge in motion, industry-leading quality and
deep expertise in linking and integrating standard and Application Centers
custom products, Kollmorgen delivers breakthrough Global Design & Manufacturing
solutions that are unmatched in performance, reliability
Global Manufacturing
and ease-of-use, giving machine builders an irrefutable
marketplace advantage.

For assistance with your application needs

in North America, contact us at: 540-633-3545,
support@kollmorgen.com or visit
www.kollmorgen.com for a global contact list.

Stockholm
Säro

Fond du Lac Ratingen

Marengo Brno
Lausanne
Milan
Beijing
Radford Tianjin
Santa Barbara Tokyo
Nagoya
Tijuana Shanghai

Hong Kong
Mumbai

Kluang

Kollmorgen
203A West Rock Road
Radford, VA 24141 USA
Phone: 1-540-633-3545
Fax: 1-540-639-4162

©2012 Kollmorgen Corporation. All rights reserved. KM_SG_00079_RevB_EN

Specifications are subject to change without notice. It is the responsibility of the product user to determine the suitability of this product for a specific application. All trademarks are the property of their respective owners.